UR3 robot in Unity3D did not change joint states as the URSim robot.

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Hello, I've successfully connect the Unity3D with URSim with the IP address and it's possible to utilize the "Joystick Panel" to control URSim robot remotely. But the robot in Unity3D did not change its condition to be the same as that in URSim. Then when I close the Unity running mode, I obtained the following issue:

ObjectDisposedException: Cannot access a disposed object.
Object name: 'System.Net.Sockets.NetworkStream'.
System.Net.Sockets.NetworkStream.Read (System.Byte[] buffer, System.Int32 offset, System.Int32 size) (at <0463b2ef957545c0a51b42f372cd4fbb>:0)
ur_data_processing+UR_Stream.UR_Stream_Thread () (at Assets/Scripts/UR3/ur_data_processing.cs:234)
System.Threading.ThreadHelper.ThreadStart_Context (System.Object state) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Threading.ExecutionContext.RunInternal (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state, System.Boolean preserveSyncCtx) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Threading.ExecutionContext.Run (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state, System.Boolean preserveSyncCtx) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Threading.ExecutionContext.Run (System.Threading.ExecutionContext executionContext, System.Threading.ContextCallback callback, System.Object state) (at <695d1cc93cca45069c528c15c9fdd749>:0)
System.Threading.ThreadHelper.ThreadStart () (at <695d1cc93cca45069c528c15c9fdd749>:0)
UnityEngine.<>c:<RegisterUECatcher>b__0_0(Object, UnhandledExceptionEventArgs)

How can I fix the problem, thank u very much.